Time-optimal path planning and control using neural networks and a genetic algorithm

Nachol Chaiyaratana, A. M S Zalzala

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

This paper presents the use of neural networks and a genetic algorithm in time-optimal control of a closed-loop 3-dof robotic system. Extended Kohonen networks which contain an additional lattice of output neurons are used in conjunction with PID controllers in position control to minimise command tracking errors. The results indicate that the extended Kohonen network controller is more efficient than the trajectory pre-shaping scheme reported in early literature. Subsequently, a multi-objective genetic algorithm (MOGA) is used to solve an optimisation problem related to time-optimal control. This problem involves the selection of actuator torque limits and an end-effector path subject to time-optimality and tracking error constraints. Two chromosome coding schemes are explored in the investigation: Gray and integer-based coding schemes. The results suggest that the integer-based chromosome is more suitable at representing the decision variables. As a result of using both neural networks and a genetic algorithm in this application, an idea of a hybridisation between a neural network and a genetic algorithm at the task level for use in a control system is also effectively demonstrated.

Original languageEnglish
Title of host publication2001 ASME International Mechanical Engineering Congress and Exposition: IMECE 2001: November 11-16, 2001, New York
Subtitle of host publicationAmerican Society of Mechanical Engineers, Dynamic Systems and Control Division
Pages97-104
Number of pages8
Volume70
Publication statusPublished - 2002
Event2001 ASME International Mechanical Engineering Congress and Exposition - New York, NY, United States
Duration: 11 Nov 200116 Nov 2001

Conference

Conference2001 ASME International Mechanical Engineering Congress and Exposition
CountryUnited States
CityNew York, NY
Period11/11/0116/11/01

Keywords

  • Genetic Algorithm
  • Neural Network
  • Robotics
  • Time-Optimal Control

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  • Cite this

    Chaiyaratana, N., & Zalzala, A. M. S. (2002). Time-optimal path planning and control using neural networks and a genetic algorithm. In 2001 ASME International Mechanical Engineering Congress and Exposition: IMECE 2001: November 11-16, 2001, New York: American Society of Mechanical Engineers, Dynamic Systems and Control Division (Vol. 70, pp. 97-104)